Publications

This paper shows that self-supervised visual pre-training from real-world images is effective for learning motor control tasks from pixels. We first train the visual representations by masked modeling of natural images. We then freeze the visual encoder and train neural network controllers on top with reinforcement learning. We do not perform any task-specific fine-tuning of the encoder; the same visual representations are used for all motor control tasks. To the best of our knowledge, this is the first self-supervised model to exploit real-world images at scale for motor control. To accelerate progress in learning from pixels, we contribute a benchmark suite of hand-designed tasks varying in movements, scenes, and robots. Without relying on labels, state-estimation, or expert demonstrations, we consistently outperform supervised encoders by up to 80% absolute success rate, sometimes even matching the oracle state performance. We also find that in-the-wild images, e.g., from YouTube or Egocentric videos, lead to better visual representations for various manipulation tasks than ImageNet images.

Many Mixed Linkers in MOFs Crystallization can separate different molecules because different molecules cannot generally be accommodated equally well in the same crystal lattice. However, in metal-organic framework (MOF) compounds, the organic linkers do not pack closely to other parts of the lattice, so it may be possible to mix several linkers that are derivatives of a parent compound with the same end groups. Deng et al. (p. 846 ) show that zinc-based MOFs can be made that mix 1,4-benzenedicarboxylate and up to eight of its derivatives in a random fashion. The effects of such mixing on porosity and absorption characteristics is nonlinear; in one case, a mixed-linker compound was four times better for selecting CO 2 versus CO compared with the best MOF bearing only one of the component linkers.

Ultrahigh molecular weight polyethylene (UHMWPE) has remained the primary polymer used in hip, knee and shoulder replacements for over 50 years. Recent case studies have demonstrated that catastrophic fatigue fracture of the polymer can severely limit device lifetime and are often associated with stress concentration (notches) integrated into the design. This study evaluates the influence of notch geometry on the fatigue of three formulations of UHMWPE that are in use today. A linear-elastic fracture mechanics approach is adopted to evaluate crack propagation as a function of notch root radius, heat treatment and Vitamin E additions. Specifically, a modified stress-intensity factor that accounts for notch geometry was utilized to model the crack driving force. The degree of notch plasticity for each material/notch combination was further evaluated using finite element methods. Experimental evaluation of crack speed as a function of stress intensity was conducted under cyclic tensile loading, taking crack length and notch plasticity into consideration. Results demonstrated that crack propagation in UHMWPE emanating from a notch was primarily affected by microstructural influences (cross-linking) rather than differences in notch geometry.

Wear is a critical factor in determining the durability of microelectromechanical systems (MEMS). While the reliability of polysilicon MEMS has received extensive attention, the mechanisms responsible for this failure mode at the microscale have yet to be conclusively determined. We have used on-chip polycrystalline silicon side-wall friction MEMS specimens to study active mechanisms during sliding wear in ambient air. Worn parts were examined by analytical scanning and transmission electron microscopy, while local temperature changes were monitored using advanced infrared microscopy. Observations show that small amorphous debris particles ({approx}50-100 nm) are removed by fracture through the silicon grains ({approx}500 nm) and are oxidized during this process. Agglomeration of such debris particles into larger clusters also occurs. Some of these debris particles/clusters create plowing tracks on the beam surface. A nano-crystalline surface layer ({approx}20-200 nm), with higher oxygen content, forms during wear at and below regions of the worn surface; its formation is likely aided by high local stresses. No evidence of dislocation plasticity or of extreme local temperature increases was found, ruling out the possibility of high temperature-assisted wear mechanisms.

Geographic routing algorithms are attractive for wireless ad hoc networks because they have been shown to scale better than other alternatives they require per-node state independent of network size, dependent only on network density. More recently, geographic routing algorithms have been proposed for use as a routing primitive for static sensor networks, as building blocks for data storage and flexible query processing in sensor networks, and even as a fallback routing mechanism for reduced state routing in the Internet.

Many physiological processes function efficiently within a well-controlled pH range. Higher acidity level has been implicated with a number of systemic pathologies. The potential of pH sensitive fluorescent probes for reporting on biological environments has been widely utilized in a variety of cell studies and has been recently recognized as a powerful technique for in vivo imaging of diseases associated with elevated acidity level. We present several strategies for the development of pH sensitive probes suitable for in vivo imaging. The strategies include incorporation of pH sensitive functionalities in known fluorophores, synthesis of novel pH sensitive skeletons, and design of pH sensitive nanoparticles using acid-degradable polymers.

The Society for Sarcopenia, Cachexia, and Wasting Disease convened an expert panel to develop nutritional recommendations for prevention and management of sarcopenia. Exercise (both resistance and aerobic) in combination with adequate protein and energy intake is the key component of the prevention and management of sarcopenia. Adequate protein supplementation alone only slows loss of muscle mass. Adequate protein intake (leucine-enriched balanced amino acids and possibly creatine) may enhance muscle strength. Low 25(OH) vitamin D levels require vitamin D replacement.